/usr/include/kido/constraint/ConstrainedGroup.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2014-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_CONSTRAINT_CONSTRAINEDGROUP_HPP_
#define KIDO_CONSTRAINT_CONSTRAINEDGROUP_HPP_
#include <vector>
#include <memory>
#include <Eigen/Dense>
namespace kido {
namespace dynamics {
class Skeleton;
} // namespace dynamics
namespace constraint {
struct ConstraintInfo;
class ConstraintBase;
class ConstraintSolver;
/// ConstrainedGroup is a group of skeletons that interact each other with
/// constraints
/// \sa class ConstraintSolver
class ConstrainedGroup
{
public:
//----------------------------------------------------------------------------
// Constructor / Desctructor
//----------------------------------------------------------------------------
/// Default contructor
ConstrainedGroup();
/// Destructor
virtual ~ConstrainedGroup();
//----------------------------------------------------------------------------
// Setting
//----------------------------------------------------------------------------
/// Add constraint
void addConstraint(ConstraintBase* _constraint);
/// Return number of constraints in this constrained group
size_t getNumConstraints() const;
/// Return a constraint
ConstraintBase* getConstraint(size_t _index) const;
/// Remove constraint
void removeConstraint(ConstraintBase* _constraint);
/// Remove all constraints
void removeAllConstraints();
/// Get total dimension of contraints in this group
size_t getTotalDimension() const;
//----------------------------------------------------------------------------
// Friendship
//----------------------------------------------------------------------------
friend class ConstraintSolver;
private:
/// Return true if _constraint is contained
bool containConstraint(ConstraintBase* _constraint) const;
/// Return true and add the constraint if _constraint is contained
bool checkAndAddConstraint(ConstraintBase* _constraint);
/// List of constraints
std::vector<ConstraintBase*> mConstraints;
///
std::shared_ptr<dynamics::Skeleton> mRootSkeleton;
};
} // namespace constraint
} // namespace kido
#endif // KIDO_CONSTRAINT_CONSTRAINEDGROUP_HPP_
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